For example, the command STS commands motion to stop on the S axis vector motion. The third byte for the
equivalent binary command would then be 01.
Byte 4
specifies the axis # or data field as follows
Bit 7 = H axis or 8
th
data field
Bit 6 = G axis or 7
th
data field
Bit 5 = F axis or 6
th
data field
Bit 4 = E axis or 5
th
data field
Bit 3 = D axis or 4
th
data field
Bit 2 = C axis or 3
rd
data field
Bit 1 = B axis or 2
nd
data field
Bit 0 = A axis or 1
st
data field
Data Fields Format
Data fields must be consistent with the format byte and the axes byte. For example, the command
“PR 1000,, -500” would be:
A7 02 00 05 03 E8 xx xx FE 0C
where A7 is the command number for PR
02 specifies 2 bytes for each data field
00 coordinated motion is not active for PR
05 specifies bit 0 is active for A axis and bit 2 is active for C axis (2
0
+ 2
2
=5)
03 E8 represents 1000
xx xx represents inactive data for the B axis (xx xx can be any values since byte 4 was configured to ignore
it)
FE OC represents -500
Example
The command “STABC” to stop motion on just axis A, B, and C would be:
A1 00 00 07
where A1 is the command number for ST
00 specifies 0 data fields
00 specifies the command does not apply to the coordinated motion
07 specifies stop A (bit 0), B (bit 1) and C (bit 2) (2
0
+2
1
+2
2
=7)
For more information and a complete list of all Galil binary commands, please refer to the Optima
Series Bus-Based Command Reference at
http://www.galilmc.com/support/manuals/optcom.pdf
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Chapter 4 - Software Tools and Communications
DMC-1600
